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planning_models::KinematicModel::AttachedBodyModel Class Reference

Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...

#include <kinematic_model.h>

List of all members.

Public Member Functions

 AttachedBodyModel (const LinkModel *link, const std::string &id, const std::vector< btTransform > &attach_trans, const std::vector< std::string > &touch_links, std::vector< shapes::Shape * > &shapes)
const std::vector< btTransform > & getAttachedBodyFixedTransforms () const
const LinkModelgetAttachedLinkModel () const
const std::string & getName () const
const std::vector
< shapes::Shape * > & 
getShapes () const
const std::vector< std::string > & getTouchLinks () const
 ~AttachedBodyModel (void)

Private Attributes

std::vector< btTransform > attach_trans_
 The constant transforms applied to the link (need to be specified by user).
const LinkModelattached_link_model_
 The link that owns this attached body.
std::string id_
std::vector< shapes::Shape * > shapes_
 The geometries of the attached body.
std::vector< std::string > touch_links_
 The set of links this body is allowed to touch.

Detailed Description

Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot.

Definition at line 417 of file kinematic_model.h.


Constructor & Destructor Documentation

planning_models::KinematicModel::AttachedBodyModel::AttachedBodyModel ( const LinkModel link,
const std::string &  id,
const std::vector< btTransform > &  attach_trans,
const std::vector< std::string > &  touch_links,
std::vector< shapes::Shape * > &  shapes 
)

Definition at line 1189 of file kinematic_model.cpp.

planning_models::KinematicModel::AttachedBodyModel::~AttachedBodyModel ( void   ) 

Definition at line 1203 of file kinematic_model.cpp.


Member Function Documentation

const std::vector<btTransform>& planning_models::KinematicModel::AttachedBodyModel::getAttachedBodyFixedTransforms (  )  const [inline]

Definition at line 444 of file kinematic_model.h.

const LinkModel* planning_models::KinematicModel::AttachedBodyModel::getAttachedLinkModel (  )  const [inline]

Definition at line 434 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::AttachedBodyModel::getName ( void   )  const [inline]

Definition at line 429 of file kinematic_model.h.

const std::vector<shapes::Shape*>& planning_models::KinematicModel::AttachedBodyModel::getShapes (  )  const [inline]

Definition at line 439 of file kinematic_model.h.

const std::vector<std::string>& planning_models::KinematicModel::AttachedBodyModel::getTouchLinks (  )  const [inline]

Definition at line 449 of file kinematic_model.h.


Member Data Documentation

The constant transforms applied to the link (need to be specified by user).

Definition at line 463 of file kinematic_model.h.

The link that owns this attached body.

Definition at line 457 of file kinematic_model.h.

string id for reference

Definition at line 469 of file kinematic_model.h.

The geometries of the attached body.

Definition at line 460 of file kinematic_model.h.

The set of links this body is allowed to touch.

Definition at line 466 of file kinematic_model.h.


The documentation for this class was generated from the following files:
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planning_models
Author(s): Ioan Sucan/isucan@willowgarage.com
autogenerated on Fri Mar 1 14:16:23 2013